diff --git a/leju_robot_pass_the_cleaner_e/.gitattributes b/leju_robot_pass_the_cleaner_e/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/.gitattributes @@ -0,0 +1,59 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/leju_robot_pass_the_cleaner_e/README.md b/leju_robot_pass_the_cleaner_e/README.md new file mode 100644 index 0000000000000000000000000000000000000000..2d0a2f2e05d26522a6336e2e132bb7d4185c0562 --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/README.md @@ -0,0 +1,314 @@ +--- +task_categories: + - robotics + +language: + - en + - zh + + +extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publicationsβ€”see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.' + + + +extra_gated_fields: + + Company/Organization: + type: 'text' + description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"' + + Country: + type: 'country' + description: 'e.g., "Germany", "China", "United States"' + + + +tags: + - RoboCOIN + - LeRobot + +frame_range: 100K-1M + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# leju_robot_pass_the_cleaner_e + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `leju_robot` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `five_finger_hand` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` +- `industry` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `pick` +- `place` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 430 | +| **Total Frames** | 165558 | +| **Total Tasks** | 1 | +| **Total Videos** | 1290 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 8.6GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +pick up the cleaner and put it on the table. + +### Sub-Tasks +This dataset includes 3 distinct subtasks: + +1. **Turn the bottle to the front side.** +2. **Pick up the bottle from the table.** +3. **null** + + +## πŸŽ₯ Camera Views + +This dataset includes 3 camera views. + +## 🏷️ Available Annotations + +This dataset includes rich annotations to support diverse learning approaches: + +### Subtask Annotations +- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling +### Scene Annotations +- **Scene-level Descriptions**: Semantic scene classifications and descriptions +### End-Effector Annotations +- **Direction**: Movement direction classifications for robot end-effectors +- **Velocity**: Velocity magnitude categorizations during manipulation +- **Acceleration**: Acceleration magnitude classifications for motion analysis + + +### Gripper Annotations +- **Gripper Mode**: Open/close state annotations for gripper control +- **Gripper Activity**: Activity state classifications (active/inactive) + + +### Additional Features +- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space + - Available for both state and action +- **Gripper Opening Scale**: Continuous gripper opening measurements + - Available for both state and action + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:429 + + +## πŸ“ Dataset Structure + +This dataset follows the LeRobot format and contains the following components: + +### Data Files +- **Videos**: Compressed video files containing RGB camera observations +- **State Data**: Robot joint positions, velocities, and other state information +- **Action Data**: Robot action commands and trajectories +- **Metadata**: Episode metadata, timestamps, and annotations + +### File Organization +- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` +- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` +- **Chunking**: Data is organized into 1 chunk(s) +of size 1000 + + +### Features Schema + +The dataset includes the following features: + +#### Visual Observations +- **observation.images.camera_head_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.camera_left_wrist_rgb**: video + - FPS: 30 + - Codec: av1- **observation.images.camera_right_wrist_rgb**: video + - FPS: 30 + - Codec: av1 + +#### State and Action- **observation.state**: float32- **action**: float32 + +#### Temporal Information +- **timestamp**: float32 +- **frame_index**: int64 +- **episode_index**: int64 +- **index**: int64 +- **task_index**: int64 + + +#### Annotations +- **subtask_annotation**: int32 +- **scene_annotation**: int32 + + +#### Motion Features +- **eef_sim_pose_state**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_sim_pose_action**: float32 + - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z +- **eef_direction_state**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_direction_action**: int32 + - Dimensions: left_eef_direction, right_eef_direction +- **eef_velocity_state**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_velocity_action**: int32 + - Dimensions: left_eef_velocity, right_eef_velocity +- **eef_acc_mag_state**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag +- **eef_acc_mag_action**: int32 + - Dimensions: left_eef_acc_mag, right_eef_acc_mag + + +#### Gripper Features + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "leju_robot", "total_episodes": 430, "total_frames": 165558, "total_tasks": 1, "total_videos": 1290, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:429"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.camera_head_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.camera_left_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.camera_right_wrist_rgb": {"dtype": "video", "shape": [480, 848, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [118], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_leg_joint_1_rad", "left_leg_joint_2_rad", "left_leg_joint_3_rad", "left_leg_joint_4_rad", "left_leg_joint_5_rad", "left_leg_joint_6_rad", "right_leg_joint_1_rad", "right_leg_joint_2_rad", "right_leg_joint_3_rad", "right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w"]}, "action": {"dtype": "float32", "shape": [54], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_leg_joint_1_rad", "left_leg_joint_2_rad", "left_leg_joint_3_rad", "left_leg_joint_4_rad", "left_leg_joint_5_rad", "left_leg_joint_6_rad", "right_leg_joint_1_rad", "right_leg_joint_2_rad", "right_leg_joint_3_rad", "right_leg_joint_4_rad", "right_leg_joint_5_rad", "right_leg_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "head_joint_1_rad", "head_joint_2_rad", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}}} +``` + +### Directory Structure + +The dataset is organized as follows (showing leaf directories with first 5 files only): + +``` +leju_robot_pass_the_cleaner_e_qced_hardlink/ +β”œβ”€β”€ annotations/ +β”‚ β”œβ”€β”€ eef_acc_mag_annotation.jsonl +β”‚ β”œβ”€β”€ eef_direction_annotation.jsonl +β”‚ β”œβ”€β”€ eef_velocity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_activity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_mode_annotation.jsonl +β”‚ └── (...) +β”œβ”€β”€ data/ +β”‚ └── chunk-000/ +β”‚ β”œβ”€β”€ episode_000000.parquet +β”‚ β”œβ”€β”€ episode_000001.parquet +β”‚ β”œβ”€β”€ episode_000002.parquet +β”‚ β”œβ”€β”€ episode_000003.parquet +β”‚ β”œβ”€β”€ episode_000004.parquet +β”‚ └── (...) +β”œβ”€β”€ meta/ +β”‚ β”œβ”€β”€ episodes.jsonl +β”‚ β”œβ”€β”€ episodes_stats.jsonl +β”‚ β”œβ”€β”€ info.json +β”‚ └── tasks.jsonl +└── videos/ + └── chunk-000/ + β”œβ”€β”€ observation.images.camera_head_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.camera_left_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + └── observation.images.camera_right_wrist_rgb/ + β”œβ”€β”€ episode_000000.mp4 + β”œβ”€β”€ episode_000001.mp4 + β”œβ”€β”€ episode_000002.mp4 + β”œβ”€β”€ episode_000003.mp4 + β”œβ”€β”€ episode_000004.mp4 + └── (...) +``` + + +## πŸ“ž Contact and Support + +For questions, issues, or feedback regarding this dataset, please contact: +- **Email:** None +For questions, issues, or feedback regarding this dataset, please contact us. +### Support +For technical support, please open an issue on our GitHub repository. + +## πŸ“„ License + +This dataset is released under the **apache-2.0** license. + +Please refer to the LICENSE file for full license terms and conditions. + + +## πŸ“š Citation + +If you use this dataset in your research, please cite: + +```bibtex +@article{robocoin, + title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation}, + author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao}, + journal={arXiv preprint arXiv:2511.17441}, + url = {https://arxiv.org/abs/2511.17441}, + year={2025} + } +``` + +### Additional References + +If you use this dataset, please also consider citing: +- LeRobot Framework: https://github.com/huggingface/lerobot + +## πŸ“Œ Version Information + +## Version History +- v1.0.0 (2025-11): Initial release \ No newline at end of file diff --git a/leju_robot_pass_the_cleaner_e/annotations/eef_acc_mag_annotation.jsonl b/leju_robot_pass_the_cleaner_e/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/annotations/eef_acc_mag_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"} +{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"} +{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"} diff --git a/leju_robot_pass_the_cleaner_e/annotations/eef_direction_annotation.jsonl b/leju_robot_pass_the_cleaner_e/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/annotations/eef_direction_annotation.jsonl @@ -0,0 +1,7 @@ +{"eef_direction_index": 0, "eef_direction": "forward"} +{"eef_direction_index": 1, "eef_direction": "backward"} +{"eef_direction_index": 2, "eef_direction": "left"} +{"eef_direction_index": 3, "eef_direction": "right"} +{"eef_direction_index": 4, "eef_direction": "up"} +{"eef_direction_index": 5, "eef_direction": "down"} +{"eef_direction_index": 6, "eef_direction": "still"} diff --git a/leju_robot_pass_the_cleaner_e/annotations/eef_velocity_annotation.jsonl b/leju_robot_pass_the_cleaner_e/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/annotations/eef_velocity_annotation.jsonl @@ -0,0 +1,3 @@ +{"eef_velocity_index": 0, "eef_velocity": "still"} +{"eef_velocity_index": 1, "eef_velocity": "slow"} +{"eef_velocity_index": 2, "eef_velocity": "fast"} diff --git a/leju_robot_pass_the_cleaner_e/annotations/gripper_activity_annotation.jsonl b/leju_robot_pass_the_cleaner_e/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/annotations/gripper_activity_annotation.jsonl @@ -0,0 +1,4 @@ +{"gripper_activity_index": 0, "gripper_activity": "openning"} +{"gripper_activity_index": 1, "gripper_activity": "closing"} +{"gripper_activity_index": 2, "gripper_activity": "holding"} +{"gripper_activity_index": 3, "gripper_activity": "unknown"} diff --git a/leju_robot_pass_the_cleaner_e/annotations/gripper_mode_annotation.jsonl b/leju_robot_pass_the_cleaner_e/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/annotations/gripper_mode_annotation.jsonl @@ -0,0 +1,3 @@ +{"gripper_mode_index": 0, "gripper_mode": "open"} +{"gripper_mode_index": 1, "gripper_mode": "closed"} +{"gripper_mode_index": 2, "gripper_mode": "unknown"} diff --git a/leju_robot_pass_the_cleaner_e/annotations/scene_annotations.jsonl b/leju_robot_pass_the_cleaner_e/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5782b5929d3463977aee8097a8a48ccc6305972 --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/annotations/scene_annotations.jsonl @@ -0,0 +1,440 @@ +{"scene_index": 0, "scene": "Bottle is at center Yellow cardboard is at back left Bottle is at back Bottle is at front right Yellow cardboard is at center"} +{"scene_index": 1, "scene": "The yellow cardboard is located at the back left position, while the four bottles are positioned in the front and one bottle is placed at the back."} +{"scene_index": 2, "scene": "The bottle is positioned at the back, and the yellow cardboard is located on the left side."} +{"scene_index": 3, "scene": "The bottle is at the center, a yellow cardboard is located at the back left, another bottle is placed at the back, and a third bottle is positioned at the front right."} +{"scene_index": 4, "scene": "The bottle is at front right, there s a yellow cardboard at back left, another bottle is on the right side, and a third bottle is located at the back."} +{"scene_index": 5, "scene": "Bottle is at center, Bottle is at back, Yellow cardboard is at back left, Bottle is at front right, Yellow cardboard is at center, Bottle is at right."} +{"scene_index": 6, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned behind it, but there s no direct interaction or specific relationship between them beyond their placement."} +{"scene_index": 7, "scene": "The yellow cardboard is positioned at the back left, while there are multiple bottles located in various positions: one bottle is at the front, another is at the back, and two others are also placed in the front area."} +{"scene_index": 8, "scene": "The bottle is on the right side, another bottle is at the back with a yellow cardboard and a yellow object also located at the back, one behind the other."} +{"scene_index": 9, "scene": "Yellow cardboard is positioned at the back left, the first bottle is located at the front, the second bottle is placed at the back, and the third bottle is situated at the front right."} +{"scene_index": 10, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 11, "scene": "The yellow cardboard is on the left side, while there are two bottles positioned to the right and front left respectively."} +{"scene_index": 12, "scene": "The bottle is at the back, and the yellow cardboard is positioned at the back left."} +{"scene_index": 13, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 14, "scene": "The yellow cardboard is located at the back left, while there are three bottles positioned in front and one bottle positioned further back."} +{"scene_index": 15, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 16, "scene": "The yellow cardboard is on the left, with multiple bottles arranged around it, specifically two bottles at the back and four bottles positioned in the front area."} +{"scene_index": 17, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 18, "scene": "The bottle is in front, while the yellow cardboards are positioned at the back and back-left."} +{"scene_index": 19, "scene": "The bottle is located at the back, while the yellow cardboard is positioned to its left."} +{"scene_index": 20, "scene": "The bottle is positioned front right and right, while the yellow cardboard is located at back left and center."} +{"scene_index": 21, "scene": "A yellow cardboard is on the left, with four bottles arranged around it: two in front (one slightly to the right), one at the front right, and another at the back right."} +{"scene_index": 22, "scene": "The bottle is positioned at the back, and the yellow cardboard is located on the left side."} +{"scene_index": 23, "scene": "The yellow cardboard is positioned at the back left, while all four bottles are located in front of it."} +{"scene_index": 24, "scene": "The bottle is positioned at the back, while the two yellow cardboard pieces are placed in the center and on the left."} +{"scene_index": 25, "scene": "Bottle is located at front right, Yellow cardboard is located at left, Yellow cardboard is located at center, Bottle is located at back right, Bottle is located at right."} +{"scene_index": 26, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 27, "scene": "The yellow cardboard is on the left, with multiple bottles arranged in various positions around it, specifically one bottle at the back right and several others positioned in the front and front right areas."} +{"scene_index": 28, "scene": "Bottle is positioned on the right, another bottle is at the back, a yellow cardboard is located at the back left, and another yellow cardboard is placed at the back."} +{"scene_index": 29, "scene": "At the back-left is a yellow cardboard; behind it is a bottle, and in the center is another bottle."} +{"scene_index": 30, "scene": "The yellow cardboard is located at the back left, while there are three bottles positioned in front and one bottle positioned further back."} +{"scene_index": 31, "scene": "The yellow cardboard is on the left, while the bottles are positioned to the right and back right."} +{"scene_index": 32, "scene": "The scene features a central bottle with two yellow cardboards positioned at the back left and one additional bottle each at the back right and front right."} +{"scene_index": 33, "scene": "The bottle is at the front, there is a yellow cardboard behind it on the left side, and another bottle is also at the front but positioned in the center."} +{"scene_index": 34, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 35, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located behind it but without specifying a side, indicating they are both in the back area."} +{"scene_index": 36, "scene": "The yellow cardboard is located at the back left, while the five bottles are positioned in various locations: one bottle is at the center, another at the front right, two at the back (one on the left and one on the right), and one additional bottle is also on the right side."} +{"scene_index": 37, "scene": "The bottle is on the right, another bottle is at the back, and a yellow cardboard is positioned at the back left."} +{"scene_index": 38, "scene": "The yellow cardboard is located at the back left, there is a bottle positioned in the center, another bottle is placed towards the back, one near the front right, and a yellow object is centrally located. Additionally, a bottle is situated on the right side."} +{"scene_index": 39, "scene": "The yellow cardboard is on the left. A bottle is in front right, a bottle is in front, another bottle is also in front, and a bottle is at back right."} +{"scene_index": 40, "scene": "The yellow cardboard is on the left side, while the three bottles are positioned at the back right, front right, and another bottle is also placed on the right side."} +{"scene_index": 41, "scene": "The yellow cardboard is on the left, with multiple bottles positioned in various locations around it."} +{"scene_index": 42, "scene": "The yellow cardboard is on the left, while multiple bottles are positioned at various locations including back, front, front right, and front."} +{"scene_index": 43, "scene": "The bottle is in the center. The yellow cardboard is at the back left. The bottle is at the front right. The yellow cardboard is in the center. The bottle is on the right. The bottle is at the back."} +{"scene_index": 44, "scene": "The bottle is located at the back, with another bottle in the front right, one on the back right, and a yellow cardboard in the center. Additionally, there s a yellow cardboard positioned at the back left."} +{"scene_index": 45, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, indicating that both objects are situated in the rear area but with the yellow cardboard specifically placed towards the left side."} +{"scene_index": 46, "scene": "The front left has a bottle, the right has two bottles, the back left has a yellow cardboard, and the center has a bottle."} +{"scene_index": 47, "scene": "The yellow cardboard is positioned at the back left, while there are two bottles located at the front right and right positions."} +{"scene_index": 48, "scene": "The yellow cardboard is located at the back left position, while four bottles are arranged with three in the front and one at the back."} +{"scene_index": 49, "scene": "The yellow cardboard is on the left side, and the bottle is located at the back."} +{"scene_index": 50, "scene": "The yellow cardboard is positioned at the back left, while multiple bottles are arranged in the scene with three located at the front and one placed further back."} +{"scene_index": 51, "scene": "The yellow cardboard is at the back left, with bottles located at front right, back right, back, and right positions."} +{"scene_index": 52, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 53, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 54, "scene": "The bottle is in front, a yellow cardboard is at the back left, another bottle is in the center, a third bottle is at the front right, and a fourth bottle is at the back."} +{"scene_index": 55, "scene": "Yellow cardboard is on the left, while bottles are located at various positions including back, front, front right, and back."} +{"scene_index": 56, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back but not specifically in the left area."} +{"scene_index": 57, "scene": "The bottle is at the center, while another bottle is located at the back. There s also a yellow cardboard positioned at the back left and another yellow cardboard placed in the center, with an additional bottle situated at the front right and one more bottle positioned to the right."} +{"scene_index": 58, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located at the back and two more in the center."} +{"scene_index": 59, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned in four instances: three at the front and one at the back."} +{"scene_index": 60, "scene": "The bottle is located at the back, and the yellow cardboard is positioned to its left."} +{"scene_index": 61, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned in front of it, with one additional bottle placed at the back right."} +{"scene_index": 62, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back."} +{"scene_index": 63, "scene": "Yellow cardboard is on the left Bottles are on the right and back right."} +{"scene_index": 64, "scene": "The bottle is at the back, the yellow cardboard is at the back left, and there s another bottle also at the back."} +{"scene_index": 65, "scene": "There are three bottles positioned at front right, back right, and right sides, two yellow cardboards placed at back left and center, with one yellow cardboard also in the center."} +{"scene_index": 66, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 67, "scene": "The bottle is positioned at the front, with two additional bottles also at the front, while the yellow cardboard is located at the back left."} +{"scene_index": 68, "scene": "The bottle is located at the back, while the yellow cardboard is positioned at the back left."} +{"scene_index": 69, "scene": "Please note the following items: Bottle located at front right, Bottle located at center, Yellow cardboard positioned at left, Yellow cardboard positioned at center, Bottle located at back right, and Bottle located at right."} +{"scene_index": 70, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 71, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located in the center, front right, and back positions."} +{"scene_index": 72, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 73, "scene": "The bottle is at the back, positioned on the same horizontal level as the yellow cardboard, which is located slightly to the left of the bottle."} +{"scene_index": 74, "scene": "The bottle is in the center, the yellow cardboard is on the left, another bottle is at the front-right, a third bottle is at the back-right, and a fourth bottle is on the right."} +{"scene_index": 75, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 76, "scene": "The yellow cardboard is at the back left, with five bottles positioned around itβ€”two in the front, two in the back (one at the back right), and one overlapping its placement."} +{"scene_index": 77, "scene": "The yellow cardboard is on the left, a bottle is in the center, and two bottles are positioned at the back right."} +{"scene_index": 78, "scene": "The yellow cardboard is located at the back left There are multiple bottles positioned as follows two bottles are in the front right and back right positions one bottle is on the right side another bottle is placed on the back right and lastly a bottle is situated to the left"} +{"scene_index": 79, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back relative to it."} +{"scene_index": 80, "scene": "The yellow cardboard is in the center. There are multiple bottles positioned at the front and back, with one bottle in front-left, one in front-right, and another at the back."} +{"scene_index": 81, "scene": "The two bottles are positioned on the right, while a yellow cardboard is placed at the back left with another bottle."} +{"scene_index": 82, "scene": "The yellow cardboard is positioned at the back left, while the six bottles are arranged with three in the center and three at the front."} +{"scene_index": 83, "scene": "The first bottle is at the back. The second bottle is in front and on the right side. There is a yellow cardboard at the back and on the left. Another bottle is on the right side. Lastly, there is a bottle positioned at the back and on the right."} +{"scene_index": 84, "scene": "Yellow cardboard is positioned at the back left. The first bottle is in the front. The second bottle is at the back. The third bottle is in the front. The fourth bottle is in the front. The fifth and sixth bottles are both located at the back right."} +{"scene_index": 85, "scene": "The yellow cardboard is on the left, while the bottles are positioned at various locations including back, front, and left."} +{"scene_index": 86, "scene": "The yellow cardboard is at the back left, while the bottles are positioned in front, with one at the front and another at the center."} +{"scene_index": 87, "scene": "The scene features a central bottle with two yellow cardboard sheets positioned at the back and center, while two additional bottles are placed in the front-right and back positions."} +{"scene_index": 88, "scene": "The yellow cardboard is on the left. There are four bottles positioned as follows: one is at the back right, two are in front (one front and one front right), and another bottle is also in front."} +{"scene_index": 89, "scene": "The yellow cardboard is positioned at the back left. There are five bottles arranged in different positions: one at the front, one at the center, and three at the back."} +{"scene_index": 90, "scene": "There is a yellow cardboard at the back left and one in the center. There are five bottles: three in the center (two identical), one on the right, and one at the front right."} +{"scene_index": 91, "scene": "The yellow cardboard is positioned at the back left, with four bottles arranged around it: two in front (one on the far right and one in the middle), and two more also placed at the back left."} +{"scene_index": 92, "scene": "On the left is a yellow cardboard; in the front-right and back-right corners are two bottles; at the center are another yellow cardboard and a bottle; and on the far right is an additional bottle."} +{"scene_index": 93, "scene": "Bottle 1 is in the center Yellow cardboard is at the back left Bottle 2 and Bottle 3 are both in the front right (Bottle 2 is mentioned twice) Bottle 4 is at the back"} +{"scene_index": 94, "scene": "The yellow cardboard is on the left, while there are three bottles positioned to the right and one bottle at the back right."} +{"scene_index": 95, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 96, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned behind it, but there s no direct interaction or specific relationship between them beyond their placement."} +{"scene_index": 97, "scene": "Yellow cardboard is on the left. Bottles are located at various positions: two are in the front, one is at the front right, and another is at the back right."} +{"scene_index": 98, "scene": "The bottle at front-left is diagonally opposite to the bottle at back-right and the bottle at front-right is diagonally opposite to the bottle at back-left, with all four objects arranged in a rectangular configuration."} +{"scene_index": 99, "scene": "The bottle is on the right, the yellow cardboard is at the back left, and another bottle is at the back right."} +{"scene_index": 100, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 101, "scene": "Yellow cardboard is positioned on the left. The first bottle is located at the left position. The second bottle is situated at the back right position. The third bottle is placed on the right side."} +{"scene_index": 102, "scene": "The yellow cardboard is located at the back left, while multiple bottles are positioned in various locations: three are at the front, one is at the back, and two are at the back right."} +{"scene_index": 103, "scene": "The first bottle is at the center. A yellow cardboard is on the left. Another bottle is in the front-right area. A bottle is located at the back-right. There is a yellow cardboard in the center. Lastly, a bottle is positioned on the right side."} +{"scene_index": 104, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 105, "scene": "The yellow cardboard is located at the back left, while there are three bottles positioned in front and one bottle positioned further back."} +{"scene_index": 106, "scene": "Bottle is on the right. Yellow cardboard is at the back left. Bottle is at the back right. Yellow cardboard is at the back."} +{"scene_index": 107, "scene": "The bottle is positioned at the right, center, front right, and back right. The yellow cardboard is positioned at the left and center."} +{"scene_index": 108, "scene": "The yellow cardboard is on the left side, and the bottle is located at the back."} +{"scene_index": 109, "scene": "The yellow cardboard is located at the back left, while the three bottles are all positioned in front."} +{"scene_index": 110, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 111, "scene": "The yellow cardboard is on the left, while there are three bottles positioned at the back right and two bottles on the right."} +{"scene_index": 112, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles in front and one bottle at the back right."} +{"scene_index": 113, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned at front left, back right (two instances), and right."} +{"scene_index": 114, "scene": "A bottle is at the front right, a yellow cardboard is at the back left, another bottle is on the right, and a third bottle is at the back."} +{"scene_index": 115, "scene": "The yellow cardboard is on the left. There are four bottles in various positions: two are at the center and right, one is at the back right, and another is also at the back right."} +{"scene_index": 116, "scene": "The bottle is positioned at the back, while the yellow cardboard is placed to its left."} +{"scene_index": 117, "scene": "Bottle positioned at center Yellow cardboard positioned at center Bottle positioned at back Bottle positioned at front right Yellow cardboard positioned at back left"} +{"scene_index": 118, "scene": "The yellow cardboard is on the left, with multiple bottles arranged in front of it, some positioned towards the front right and others spread across both front and back positions."} +{"scene_index": 119, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back."} +{"scene_index": 120, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 121, "scene": "The yellow cardboard is at the back left, while four bottles are positioned in various locations: one in the center, one at the back, one on the right, and one at the front right."} +{"scene_index": 122, "scene": "Bottle is positioned at Center and Right; Yellow cardboard is located at Back left."} +{"scene_index": 123, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 124, "scene": "Yellow cardboard is on the left and there are two bottles on the right and one bottle on the left."} +{"scene_index": 125, "scene": "The yellow cardboard is on the left, with bottles positioned in the center, right, front right, and back right."} +{"scene_index": 126, "scene": "The yellow cardboard is at the back left, with three bottles positioned in various places: one in front, another behind it, and a third in front right."} +{"scene_index": 127, "scene": "Bottle is positioned at front right. Yellow cardboard is positioned at back left. Second bottle is positioned at right. Third bottle is positioned at back."} +{"scene_index": 128, "scene": "There is a yellow cardboard on the back left. There are five bottles in total: one on the back left (same location as the yellow cardboard), one on the front right, one on the left, and two on the back right."} +{"scene_index": 129, "scene": "The yellow cardboard is on the left, and five bottles are positioned as follows: one on the right, two in the back, and two at the back right."} +{"scene_index": 130, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 131, "scene": "The yellow cardboard is located at the back left. There are multiple bottles positioned at different locations: one bottle is at the back, two bottles are on the right side, and another bottle is at the back right."} +{"scene_index": 132, "scene": "The yellow cardboard is on the left, and the bottle is centered between it and nothing else."} +{"scene_index": 133, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 134, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned directly behind it but without specifying its exact location relative to the cardboard beyond being in the same general area."} +{"scene_index": 135, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned across the front and back, with two in the front, one at the front right, and one at the back right."} +{"scene_index": 136, "scene": "The yellow cardboard is on the left, with five bottles positioned to its right and back right."} +{"scene_index": 137, "scene": "Bottle is on the right, Bottle is at the back, Bottle is in the front right, Yellow cardboard is at the back left, Yellow cardboard is at the back, Bottle is on the left."} +{"scene_index": 138, "scene": "The bottle is at the center, while the yellow cardboard is positioned at the back left. There are additional bottles located at the back and on the right side."} +{"scene_index": 139, "scene": "The bottle is in the front right; the yellow cardboard is in the back left; the bottle is in the back right; the bottle is at the back; and the bottle is on the right."} +{"scene_index": 140, "scene": "In the image, a yellow cardboard is positioned at the back left, while five bottles are arranged across the front of the frame."} +{"scene_index": 141, "scene": "The bottle is positioned at the back, while the yellow cardboard is on the left side."} +{"scene_index": 142, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 143, "scene": "The yellow cardboard is on the left, a bottle is in the center, and another yellow cardboard is also in the center."} +{"scene_index": 144, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 145, "scene": "The bottle is at the back, and the yellow cardboard is positioned at the back left."} +{"scene_index": 146, "scene": "The yellow cardboard is positioned at the back left, while multiple bottles are arranged in the scene with three located at the front and one placed further back."} +{"scene_index": 147, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 148, "scene": "The bottle is positioned at the back and on the right, while the yellow cardboard is located at the back-left."} +{"scene_index": 149, "scene": "The scene consists of five objects: a bottle at front right, two bottles at back right and back positions, a yellow cardboard at back left and center."} +{"scene_index": 150, "scene": "Yellow cardboard is at back left. Two bottles are on the right. One bottle is at back right. One bottle is at front left."} +{"scene_index": 151, "scene": "The bottle is at the center, and the yellow cardboard is on its left."} +{"scene_index": 152, "scene": "The yellow cardboard is at the back left, while multiple bottles are positioned at various locations including the right, front left, and both centers."} +{"scene_index": 153, "scene": "The bottle is in the front right position, there are two bottles positioned at the back right and back positions respectively, and a yellow cardboard is placed at the back left position."} +{"scene_index": 154, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 155, "scene": "The scene contains three bottles positioned at the center, back, and front right locations, along with a yellow cardboard placed in the back left."} +{"scene_index": 156, "scene": "Bottle 1 is at the center Yellow cardboard is located at the back-left Bottle 2 is positioned at the front-right Bottle 3 is placed at the back"} +{"scene_index": 157, "scene": "The first bottle is at the center, the second bottle is behind it, the yellow cardboard is positioned at the back left corner, the third bottle is in front and to the right."} +{"scene_index": 158, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back but not specifically in the left area."} +{"scene_index": 159, "scene": "The back-left object is a yellow cardboard; there are three bottles located at the back, center, and right positions, respectively; another yellow cardboard is in the center."} +{"scene_index": 160, "scene": "The bottle is positioned on the right side, a bottle is located at the back right position, a yellow cardboard is placed in the back left area, and another yellow cardboard is situated at the back."} +{"scene_index": 161, "scene": "There is a yellow cardboard on the left and multiple bottles positioned at the front, front right, center, and right."} +{"scene_index": 162, "scene": "The bottle is in the front position, with another yellow cardboard located at the back left. Additionally, there are three more bottles, each also positioned in the front, and one bottle placed at the back."} +{"scene_index": 163, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located behind it but without specifying a side, indicating they are both in the back area."} +{"scene_index": 164, "scene": "The yellow cardboard is at the back left, with three bottles positioned behind, center, and in front of it on the right."} +{"scene_index": 165, "scene": "The bottle is at the back, with a yellow cardboard to its back-left, while another bottle is in front."} +{"scene_index": 166, "scene": "Bottles are positioned at various points including front right, back right, and center, while yellow cardboard is placed on the left and center."} +{"scene_index": 167, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 168, "scene": "The yellow cardboard is at the back left, a bottle is in front of it on the left side, and another bottle is positioned to the right."} +{"scene_index": 169, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back but not specifically in the left area."} +{"scene_index": 170, "scene": "The bottle is on the right, and there are yellow cardboards on the left."} +{"scene_index": 171, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 172, "scene": "In the scene, there are three bottles positioned at the front right, back, and back left, with one bottle specifically noted as being in the back. Additionally, a yellow cardboard is placed at the back left."} +{"scene_index": 173, "scene": "The yellow cardboard is positioned at the back left, while the two bottles are both located at the back, sharing the same positional area."} +{"scene_index": 174, "scene": "The yellow cardboard is on the left, with bottles positioned at back, front, front right, and front."} +{"scene_index": 175, "scene": "The yellow cardboard is located at the back left, while the bottle is centered between them."} +{"scene_index": 176, "scene": "There is a bottle in the center, another bottle on the back left along with a yellow cardboard also at the back, two bottles on the right, and a yellow cardboard in the center."} +{"scene_index": 177, "scene": "The yellow cardboard is located at the back left, while three bottles are positioned in the front, with one bottle placed centrally and two others arranged symmetrically on either side."} +{"scene_index": 178, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned behind it, but there s no direct interaction or specific relationship between them beyond their placement."} +{"scene_index": 179, "scene": "The bottle is located at the back, while the yellow cardboard is positioned to its left."} +{"scene_index": 180, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned directly behind it but without specifying its exact location relative to the cardboard beyond being in the same general area."} +{"scene_index": 181, "scene": "There are four bottles positioned in front of the scene, with three at the front and one centered. Two yellow cardboards are located towards the back left."} +{"scene_index": 182, "scene": "The yellow cardboard is located at the back left, while the five bottles are positioned as follows: two in the center, one on the right, and two at the front right."} +{"scene_index": 183, "scene": "The yellow cardboard is at the center, another yellow cardboard is at the back left, and a bottle is located at the back."} +{"scene_index": 184, "scene": "At the back-left is a yellow cardboard box; behind it are two bottles placed closely together, aligned along the same line."} +{"scene_index": 185, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 186, "scene": "Bottle 1 is at the front, Bottle 2 is at the front, Bottle 3 is at the back, Bottle 4 is at the front, Yellow cardboard is at the back left."} +{"scene_index": 187, "scene": "The yellow cardboard is at the back left There are five bottles in total two are located at the back and front positions one is at the back left one is at the front left and another is at the front The yellow cardboard is positioned at the back left There are five bottles one each at the back back left front front left and front"} +{"scene_index": 188, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back relative to it."} +{"scene_index": 189, "scene": "The yellow cardboard is positioned at the back left, while there are five bottles located across the sceneβ€”two in the front, one on the front left, and two more positioned further back."} +{"scene_index": 190, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 191, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 192, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 193, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back."} +{"scene_index": 194, "scene": "The first bottle is on the right side, the second bottle is in the center, the third bottle is also on the right side, the yellow cardboard is in the center, and the other yellow cardboard is at the back left."} +{"scene_index": 195, "scene": "The yellow cardboard is positioned at the back left, while there are four bottles located in the front and one bottle positioned at the back right."} +{"scene_index": 196, "scene": "The yellow cardboard is located at the back left, while the five bottles are positioned in front, with four of them in the front and one at the back."} +{"scene_index": 197, "scene": "The yellow cardboard is positioned at the back left, while three bottles are placed in front."} +{"scene_index": 198, "scene": "The yellow cardboard is on the leftThere are five bottles positioned in front and back right locations as well as front and back positions."} +{"scene_index": 199, "scene": "The bottle is positioned at the back, with a yellow cardboard located at the back left and another yellow cardboard placed on the left."} +{"scene_index": 200, "scene": "A central bottle is present, with two additional bottles located in the front right area, a yellow cardboard positioned at the back left, and another bottle situated at the back right."} +{"scene_index": 201, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 202, "scene": "The yellow cardboard is positioned at the back left, while the bottles are arranged with one at the back and three in the front."} +{"scene_index": 203, "scene": "A yellow cardboard is on the left. Another bottle is in front of it. A third bottle is slightly to the front right. A third bottle is also in front. Two bottles are at the back right."} +{"scene_index": 204, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 205, "scene": "The yellow cardboard is positioned at the back left, while bottles are located in various positions: two are on the left (front and back), one is on the right, and another is at the front right."} +{"scene_index": 206, "scene": "The yellow cardboard is placed on the left side, another yellow cardboard is in the center, the bottle is located at the front right, another bottle is positioned at the right side, a bottle is also in the center, and lastly, a bottle is situated at the back right."} +{"scene_index": 207, "scene": "The yellow cardboard is located at the back left, there is a bottle in the center, another bottle is positioned at the back, a bottle is placed at the front right, and lastly, there is a bottle on the right."} +{"scene_index": 208, "scene": "The front-right bottle is positioned diagonally opposite to the back-left yellow cardboard, while both bottles (front-right and back-right) are placed at either end of the shelf."} +{"scene_index": 209, "scene": "The yellow cardboard is on the left, and two bottles are behind it, but their exact positions relative to each other are unclear."} +{"scene_index": 210, "scene": "The bottle is positioned at the back, while the yellow cardboard is on the left side."} +{"scene_index": 211, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 212, "scene": "The yellow cardboard is located at the back left, while multiple bottles are positioned in the front and center."} +{"scene_index": 213, "scene": "The yellow cardboard is on the left, while there are five bottles positioned to the right and two of them are also at the back."} +{"scene_index": 214, "scene": "The setup has four bottles positioned on the right side, with one additional bottle located at the back left, and a yellow cardboard also placed at the back left."} +{"scene_index": 215, "scene": "The yellow cardboard is positioned on the left and center, while the bottles are located at the right, front right, back right, and another bottle is also on the right."} +{"scene_index": 216, "scene": "The yellow cardboard is located at the back left, while there are five bottles arranged in two groups: three in the front and two at the back, with one positioned specifically at the back right."} +{"scene_index": 217, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned in four instances: three at the front and one at the back."} +{"scene_index": 218, "scene": "The yellow cardboard is located at the back-left position, while there are two bottles placed on either sideβ€”one on the left and another on the right."} +{"scene_index": 219, "scene": "The scene contains four bottles positioned in different locations: two at the front, one on the front right, and another at the center. A yellow cardboard is placed to the left of these objects."} +{"scene_index": 220, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located behind it but without specifying a side, indicating they are both in the back area."} +{"scene_index": 221, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back but not specifically in the left area."} +{"scene_index": 222, "scene": "The yellow cardboard is positioned at the back left, while three bottles are located in various positions: one at the back, one at the center, and one at the front."} +{"scene_index": 223, "scene": "The yellow cardboard is on the left, with three bottles positioned at various locations: two to the right (one back and one front) and one to the left."} +{"scene_index": 224, "scene": "The bottle is at the back, another bottle is on the right, the yellow cardboard is at the back left, and a third bottle is in front on the right."} +{"scene_index": 225, "scene": "The bottle is in front right, the second bottle is at center, the yellow cardboard is at back left, and the other two bottles are positioned at back and front."} +{"scene_index": 226, "scene": "The yellow cardboard is positioned at the back left, while there are five bottles arranged across different positions: two at the back, one at the front left, and two at the front."} +{"scene_index": 227, "scene": "There is a yellow cardboard in the back left position, with multiple bottles placed at the front and center positions."} +{"scene_index": 228, "scene": "There is a yellow cardboard positioned on the left side of the scene, stationary. Additionally, there are multiple bottles placed at various locations: one located towards the back of the scene, another situated in the front area, and another placed towards the front-right part of the scene."} +{"scene_index": 229, "scene": "The yellow cardboard is positioned at the back left. There are five bottles, with two located at the front and three at the back; two of the back bottles are on the left side, and one is directly behind the yellow cardboard."} +{"scene_index": 230, "scene": "In the scene, there are multiple bottles positioned in various locations and two yellow cardboard pieces placed strategically at different points."} +{"scene_index": 231, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located behind it but without specifying a side, indicating they are both in the back area."} +{"scene_index": 232, "scene": "The yellow cardboard is positioned at the back left, while three bottles are located at the right (front right), right (back), and another bottle is also at the right."} +{"scene_index": 233, "scene": "The bottle is at the back, and the yellow cardboard is positioned to the back-left."} +{"scene_index": 234, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 235, "scene": "The yellow cardboard is at the back left, while multiple bottles are positioned to the right and back right."} +{"scene_index": 236, "scene": "The scene consists of five bottles and two yellow cardboards arranged in specific positions: one bottle is centered, another is at the front right, a third is at the back right, and the fourth is on the right side; additionally, there are two yellow cardboards placed in the back left and center positions."} +{"scene_index": 237, "scene": "The yellow cardboard is on the left side, while multiple bottles are positioned at both the right and back-right areas."} +{"scene_index": 238, "scene": "The scene features three bottles positioned in different locations: one at the center, one at the front right, another at the front, and a yellow cardboard placed on the left side."} +{"scene_index": 239, "scene": "The yellow cardboard is on the left, with four bottles in front (three on the front side and one at the back right)."} +{"scene_index": 240, "scene": "Yellow cardboard is on the left. Bottles are positioned to the right (two of them), at the back right, and another bottle is also on the right."} +{"scene_index": 241, "scene": "The yellow cardboard is on the left, with bottles positioned to its right, back right, and left."} +{"scene_index": 242, "scene": "The yellow cardboard is on the left, and there are five bottles positioned as follows: one in front, two in front-right (stacked or separate), one at the back, and another also in front (possibly overlapping with others)."} +{"scene_index": 243, "scene": "The bottle is on the right side, another yellow cardboard is to its left, there s a third bottle at the back right, and a fourth bottle is also positioned on the right."} +{"scene_index": 244, "scene": "The bottle is centered, while the yellow cardboard is positioned to its left."} +{"scene_index": 245, "scene": "The yellow cardboard is on the left, while the bottles are positioned at the back right, right, and another bottle is also on the right."} +{"scene_index": 246, "scene": "The bottle is at the center, and the yellow cardboard is positioned at the back left relative to it."} +{"scene_index": 247, "scene": "The yellow cardboard is located at the back left, with five bottles arranged around it: one at the back, one in the center, and three on the front (front, front right)."} +{"scene_index": 248, "scene": "The bottle is positioned at the back, while the yellow cardboard is placed to its left."} +{"scene_index": 249, "scene": "The bottle is located at the back, while the yellow cardboard is positioned to its left."} +{"scene_index": 250, "scene": "Yellow cardboard located at the back-left position Bottle positioned in front (three instances)"} +{"scene_index": 251, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back."} +{"scene_index": 252, "scene": "The yellow cardboard is positioned at the back left, while there are multiple bottles located in various positions: front, back right, front, back, and front."} +{"scene_index": 253, "scene": "The objects are positioned as follows: a bottle is on the right, a yellow cardboard is at the back left, and multiple bottles are located at the front right, back left, and back right positions."} +{"scene_index": 254, "scene": "The bottle is positioned at front right The yellow cardboard is positioned at back left The bottle is positioned at back right The bottle is positioned at back The yellow cardboard is positioned at center The bottle is positioned at right"} +{"scene_index": 255, "scene": "The yellow cardboard is on the left, and the bottle is in the center."} +{"scene_index": 256, "scene": "The yellow cardboard is located at the back left of the scene. A bottle is positioned in the center, another bottle is placed towards the back, and two additional bottles are situated on the right side."} +{"scene_index": 257, "scene": "The yellow cardboard is on the left, while there are multiple bottles positioned to the right and back right."} +{"scene_index": 258, "scene": "The bottle is at the front right, another bottle is at the back right, a third bottle is on the right, a yellow cardboard is in the center, another yellow cardboard is on the left, and a fourth bottle is also at the back right."} +{"scene_index": 259, "scene": "The bottle is located at the back, and the yellow cardboard is positioned to its left."} +{"scene_index": 260, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back."} +{"scene_index": 261, "scene": "The yellow cardboard is on the left, with bottles placed in the center, right, back right, and front right positions."} +{"scene_index": 262, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back relative to it."} +{"scene_index": 263, "scene": "Bottle is positioned right and stands alone as a standalone object with no direct relationship to others. Yellow cardboard is located back left with no specific relationship mentioned to other objects. Another bottle is placed back with no specific relationship mentioned to other objects. A third bottle is situated back right with no specific relationship mentioned to other objects."} +{"scene_index": 264, "scene": "The bottle is at the back, and the yellow cardboard is positioned to the back-left."} +{"scene_index": 265, "scene": "The bottle is located at the back, while the yellow cardboard is positioned at the back left."} +{"scene_index": 266, "scene": "The yellow cardboard is located at the back-left position, while the bottle is centrally positioned."} +{"scene_index": 267, "scene": "The yellow cardboard is located at the back left of the scene, while multiple bottles are positioned in the front and one bottle is placed at the back right."} +{"scene_index": 268, "scene": "The yellow cardboard is positioned at the back left, while the four bottles are located in front, with one bottle also placed at the back right."} +{"scene_index": 269, "scene": "The yellow cardboard is on the left, while four bottles are positioned in the front right and back right."} +{"scene_index": 270, "scene": "The bottle is on the right, another bottle is behind it on the back left, and a yellow cardboard is at the center, also positioned back."} +{"scene_index": 271, "scene": "The central bottle is in the middle, while two bottles are positioned on the right side. Additionally, a yellow cardboard is located at the back left area."} +{"scene_index": 272, "scene": "The yellow cardboard is located at the back left, while the four bottles are positioned in front (three in front and one at the back)."} +{"scene_index": 273, "scene": "The bottle is at the back, another bottle is in front on the right side, and a yellow cardboard is located at the back on the left side."} +{"scene_index": 274, "scene": "The bottle is positioned at the back, and the yellow cardboard is located on the left side."} +{"scene_index": 275, "scene": "The yellow cardboard is positioned at the back left, while two bottles are located behind it but without a specific positional relationship to each other."} +{"scene_index": 276, "scene": "The bottle is in the center, The bottle is at the front right, The bottle is at the back right, The yellow cardboard is at the back left, The bottle is on the right, The yellow cardboard is in the center."} +{"scene_index": 277, "scene": "The yellow cardboard is on the left, a bottle is at the back right, and another bottle is on the right."} +{"scene_index": 278, "scene": "The yellow cardboard is on the left, and the bottle is centered to its right."} +{"scene_index": 279, "scene": "The yellow cardboard is located at the back left, with a bottle positioned behind it, and another bottle placed centrally."} +{"scene_index": 280, "scene": "The yellow cardboard is on the left, while the two bottles are positioned at the right and back right."} +{"scene_index": 281, "scene": "The two bottles on the right and back right are positioned at the right and back right, respectively, while there is one bottle each on the back left along with a yellow cardboard also placed on the back left."} +{"scene_index": 282, "scene": "The yellow cardboard is positioned at the back left, while three bottles are placed in various locations: one in the center, another at the front right, and a third at the back."} +{"scene_index": 283, "scene": "The yellow cardboard is located at the back left, while the five bottles are positioned in various locations around the front and front left areas."} +{"scene_index": 284, "scene": "The yellow cardboard is on the left, and the bottle is in the center."} +{"scene_index": 285, "scene": "The yellow cardboard is at the back left, with bottles placed in the center, back, front right, and right positions."} +{"scene_index": 286, "scene": "The yellow cardboard is on the left, two bottles are in the front (one slightly to the right), and a bottle is centered."} +{"scene_index": 287, "scene": "The yellow cardboard is located at the back left, while the bottles are positioned at the back right and three in front."} +{"scene_index": 288, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 289, "scene": "The yellow cardboard is located at the back left, while all four bottles are positioned in front of it, with three at the front and one at the back."} +{"scene_index": 290, "scene": "The first bottle is positioned on the right. The second bottle is positioned at the front right. The yellow cardboard is positioned on the left. The yellow cardboard is also positioned in the center. The third bottle is positioned on the right again. The fourth bottle is positioned at the back right."} +{"scene_index": 291, "scene": "The objects are positioned as follows: a bottle is at the back, another bottle is at the front right, a yellow cardboard is at the back left, another bottle is at the back right, and a yellow cardboard is at the center."} +{"scene_index": 292, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 293, "scene": "The yellow cardboard is on the left, while two bottles are positioned to the right; one is in front and the other is at the back right."} +{"scene_index": 294, "scene": "The yellow cardboard is located at the back left position, while two bottles are placed behind it, sharing the same back location."} +{"scene_index": 295, "scene": "The bottle is on the right side, there is a yellow cardboard at the back left, and another bottle is located at the back."} +{"scene_index": 296, "scene": "The yellow cardboard is located at the back left, while multiple bottles are positioned in both front and back areas."} +{"scene_index": 297, "scene": "A bottle is in the front; a yellow cardboard is on the left; a bottle is at the front right; a bottle is on the right; and another bottle is at the back."} +{"scene_index": 298, "scene": "The yellow cardboard is positioned at the back left, while multiple bottles are arranged in the scene with three located at the front and one placed further back."} +{"scene_index": 299, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 300, "scene": "The yellow cardboard is on the left side, and the bottle is located at the back."} +{"scene_index": 301, "scene": "There is Bottle at Right, there is Yellow cardboard at Back left, there is Yellow at Center, there is Bottle at Center, there is Bottle at Right."} +{"scene_index": 302, "scene": "The bottle is at the front right, the yellow cardboard is at the back left, and there s another bottle also at the back left."} +{"scene_index": 303, "scene": "There are multiple bottles positioned at various locations (front right, back right, and two at the right) and a yellow cardboard located on the left and another in the center."} +{"scene_index": 304, "scene": "The yellow cardboard is positioned at the back left, while there are four bottles located in various positions: two at the front (one unspecified and one also front), one in the center, and one at the back."} +{"scene_index": 305, "scene": "The bottle is located at the back, and the yellow cardboard is positioned to its left."} +{"scene_index": 306, "scene": "The yellow cardboard is on the left, with five bottles positioned in various locations around it, including one at front right, three at back right, and one at the far right."} +{"scene_index": 307, "scene": "The bottle is positioned at the back, and the yellow cardboard is located on the left side."} +{"scene_index": 308, "scene": "The yellow cardboard is positioned at the back left, while there are multiple bottles located in various positions: two at the back (one on the left and one on the right), three in the front."} +{"scene_index": 309, "scene": "The bottles are positioned on the right and center, while the yellow cardboard is located at the back left."} +{"scene_index": 310, "scene": "The bottle is at the back, and the yellow cardboard is positioned at the back left."} +{"scene_index": 311, "scene": "Yellow cardboard is located at back left, with three bottles positioned as follows: one in center, one at back, and another at front right."} +{"scene_index": 312, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 313, "scene": "The yellow cardboard is on the left, a bottle is on the right, and another bottle is positioned at the back right."} +{"scene_index": 314, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back."} +{"scene_index": 315, "scene": "There is a yellow cardboard at the back left, another yellow cardboard in the center, three bottles positioned at the center, back, and right."} +{"scene_index": 316, "scene": "The yellow cardboard is located at the back left, while there are three bottles positioned in front and one bottle positioned further back."} +{"scene_index": 317, "scene": "The yellow cardboard is on the left, while the four bottles are positioned in the back right and front right areas."} +{"scene_index": 318, "scene": "The bottle is at the back, and the yellow cardboard is positioned to the back-left."} +{"scene_index": 319, "scene": "The yellow cardboard is positioned at the back left, while the five bottles are located in various positions, with three in front and two towards the back."} +{"scene_index": 320, "scene": "Bottle at back, Bottle in center, Yellow cardboard at back left, Bottle at front right, Yellow cardboard in center, Bottle on right."} +{"scene_index": 321, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 322, "scene": "The yellow cardboard is on the left, and there are multiple bottles positioned in various locations, including one at the back and several in the front, such as a bottle at the front right."} +{"scene_index": 323, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned behind it."} +{"scene_index": 324, "scene": "The yellow cardboard is positioned at the back left, while the four bottles are located in various positions with three in the front and one at the back."} +{"scene_index": 325, "scene": "The bottle is at the back, and the yellow cardboard is positioned to the back-left."} +{"scene_index": 326, "scene": "The front has two bottles, while the back includes a bottle and a yellow cardboard positioned at the back left."} +{"scene_index": 327, "scene": "The bottle is positioned at the back, while the yellow cardboard is on the left side."} +{"scene_index": 328, "scene": "The bottle is located at the back, while the yellow cardboard is positioned at the back left."} +{"scene_index": 329, "scene": "The yellow cardboard is on the left, while there are three bottles located to the right, one at the back right and two others also positioned towards the front right."} +{"scene_index": 330, "scene": "Bottle positioned at the back yellow cardboard positioned at the back left bottle positioned at the center two instances."} +{"scene_index": 331, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back relative to it."} +{"scene_index": 332, "scene": "The yellow cardboard is located at the back left, while there are three bottles positioned in various locations: one in the center, one in the front, and another at the front right."} +{"scene_index": 333, "scene": "Yellow cardboard is at the back-left; the first bottle is in the center; the second bottle is on the right side; the third bottle is at the back."} +{"scene_index": 334, "scene": "The bottle is at the back, another bottle is in front, and a yellow cardboard is located at the back left."} +{"scene_index": 335, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back relative to it."} +{"scene_index": 336, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 337, "scene": "Yellow cardboard is located at the back left The first bottle is positioned in the center The second bottle shares the same central location as the first bottle The third bottle is placed at the front right"} +{"scene_index": 338, "scene": "Bottle is positioned at the center. Yellow cardboard is positioned at the center. Bottle is positioned at the back. Bottle is positioned at the front right. Yellow cardboard is positioned at the back left."} +{"scene_index": 339, "scene": "Yellow cardboard is at the back left, while three bottles are positioned at the back, and two are in the center."} +{"scene_index": 340, "scene": "The two bottles are both at the back, while the yellow cardboard is positioned at the back left."} +{"scene_index": 341, "scene": "Bottle is on the right side. Yellow cardboard is located at the back-left position. There are two bottles positioned at the back-right."} +{"scene_index": 342, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located at various positions: two are in the back and one is in the front."} +{"scene_index": 343, "scene": "The yellow cardboard is positioned at the back left, while the bottles are arranged with one at the back and three in the front."} +{"scene_index": 344, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 345, "scene": "The yellow cardboard is located at the back left position, while four bottles are arranged with three in the front and one at the back."} +{"scene_index": 346, "scene": "The yellow cardboard is on the left, while there are multiple bottles positioned to the right, back, and back right."} +{"scene_index": 347, "scene": "The yellow cardboard is positioned at the back left, while the bottles are arranged with one at the back and three in the front."} +{"scene_index": 348, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned behind it, but there s no direct interaction or specific relationship between them beyond their placement."} +{"scene_index": 349, "scene": "The yellow cardboard is on the left, and the bottle is in the center."} +{"scene_index": 350, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 351, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back but not specifically in the left area."} +{"scene_index": 352, "scene": "The yellow cardboard is located at the back left, with a bottle positioned in the center, another bottle placed at the back, and a third bottle situated on the right side."} +{"scene_index": 353, "scene": "The bottle is at the back, and the yellow cardboard is positioned to the back-left."} +{"scene_index": 354, "scene": "The bottle in the center is positioned centrally, another bottle is on the right, a yellow cardboard is also centrally placed but overlaps or is behind the central bottle, and there s a yellow cardboard located at the back left."} +{"scene_index": 355, "scene": "The setup features multiple bottles and a yellow cardboard arranged across the scene. Bottles are positioned at front right, back left (two instances), and back right, while the yellow cardboard is placed at back left."} +{"scene_index": 356, "scene": "The yellow cardboard is positioned at the back left, while the four bottles are located in various positions with three in the front and one at the back."} +{"scene_index": 357, "scene": "The yellow cardboard is located at the back left. There are five bottles positioned as follows: two at the front (front and front left), one in front, one at the front, and one at the back."} +{"scene_index": 358, "scene": "The yellow cardboard is on the left, and the bottle is behind it."} +{"scene_index": 359, "scene": "The yellow cardboard is positioned at the back left, two bottles are located at the back right and front left, and one bottle is placed on the right side."} +{"scene_index": 360, "scene": "The first bottle is in the front. The yellow cardboard is on the left. The second bottle is in the front-right. The third bottle is also in the front-right. The fourth bottle is at the center."} +{"scene_index": 361, "scene": "The yellow cardboard is positioned at the back left. There are five bottles located in various positions: one at the center, one at the front right, one at the back, and one on the right side."} +{"scene_index": 362, "scene": "The yellow cardboard is at the back left, a bottle is in the center, another bottle is at the back, and two bottles are on the right."} +{"scene_index": 363, "scene": "The yellow cardboard is located at the back left of the scene. The six bottles are positioned in the front and back areas, with three bottles in the front and two bottles in the back right section."} +{"scene_index": 364, "scene": "The yellow cardboard is on the left, with bottles positioned in the center, back, right, and back right."} +{"scene_index": 365, "scene": "Bottles are positioned at back right, front right, and right, while yellow cardboard is placed on the left and center."} +{"scene_index": 366, "scene": "The yellow cardboard is on the left. There are three bottles: two are on the right, one is on the left."} +{"scene_index": 367, "scene": "The bottle is centered, another bottle is positioned at the back, and the yellow cardboard is located at the back left."} +{"scene_index": 368, "scene": "The yellow cardboard is on the left, and the bottle is centered between them."} +{"scene_index": 369, "scene": "The yellow cardboard is on the left, while the bottle is positioned at the back relative to it."} +{"scene_index": 370, "scene": "The yellow cardboard is located at the back left, while the bottle is positioned in both the front right and center."} +{"scene_index": 371, "scene": "The bottle is positioned to the right, the other bottle is located at the back right, the yellow cardboard is placed at the back left."} +{"scene_index": 372, "scene": "The yellow cardboard is on the left, while there are three bottles positioned as follows: one in the center, another at the back right, and a third on the right."} +{"scene_index": 373, "scene": "The yellow cardboard is positioned at the back left, while all four bottles are located in front of it."} +{"scene_index": 374, "scene": "The front bottle is at the front center, two bottles are on either side (left and right), one bottle is at the back, and another bottle is positioned in the front right."} +{"scene_index": 375, "scene": "The bottle is located at the back, while the yellow cardboard is positioned at the back left."} +{"scene_index": 376, "scene": "The yellow cardboard is located at the back left. There are four bottles positioned in various locations: one in the front and three at the back (with two overlapping)."} +{"scene_index": 377, "scene": "The yellow cardboard is on the left, while the six bottles are positioned across the front right, right, back right, and back areas."} +{"scene_index": 378, "scene": "The bottle is positioned at the back, while the yellow cardboard is located at the back left."} +{"scene_index": 379, "scene": "The yellow cardboard is on the left side, while the bottles are positioned in front, front-right, front, and back-right locations."} +{"scene_index": 380, "scene": "The yellow cardboard is positioned at the back left. Bottles are arranged with two in the back and four in the front, all placed directly behind or in front of the yellow cardboard without overlapping."} +{"scene_index": 381, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 382, "scene": "The yellow cardboard is located at the back left, while all bottles are positioned in front except one that is at the back."} +{"scene_index": 383, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned behind it, but there s no direct interaction or specific relationship between them beyond their placement."} +{"scene_index": 384, "scene": "The yellow cardboard is on the left, another yellow cardboard is in the center, and several bottles are positioned at various locations including the front right, right, back right, and center."} +{"scene_index": 385, "scene": "The yellow cardboard is positioned at the back left, while three bottles are placed in various locations: one at the back, another on the right, and a third at the front right."} +{"scene_index": 386, "scene": "The bottle is at the back, positioned centrally, while the yellow cardboard is located at the back left corner of the image."} +{"scene_index": 387, "scene": "The yellow cardboard is positioned at the back left, while multiple bottles are arranged in the scene with three located at the front and one placed further back."} +{"scene_index": 388, "scene": "The yellow cardboard is on the left, while the two bottles are positioned to the right, with one located slightly further back than the other."} +{"scene_index": 389, "scene": "A yellow cardboard is located at the back left, while three bottles are positioned at the back right, front right, and right."} +{"scene_index": 390, "scene": "There is a bottle at the right, a bottle at the front right, a yellow cardboard at the left, a yellow cardboard at the center, and a bottle at the back right."} +{"scene_index": 391, "scene": "The yellow cardboard is on the left, while the bottle is centered."} +{"scene_index": 392, "scene": "A bottle is positioned on the right side, another bottle is also on the right, a third bottle is at the front-left, and the fourth bottle is at the back-right. Additionally, there is a yellow cardboard located at the back-left."} +{"scene_index": 393, "scene": "The yellow cardboard is on the left side, and the bottle is located at the back."} +{"scene_index": 394, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 395, "scene": "The yellow cardboard is positioned at the back left, while the bottles are arranged with one at the back and three in the front."} +{"scene_index": 396, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back."} +{"scene_index": 397, "scene": "The bottle is on the right. There is a yellow cardboard in the back left. A bottle is at the back. Another bottle is in the back left along with the yellow cardboard."} +{"scene_index": 398, "scene": "The bottle is positioned at the center, while the yellow cardboard is located to its left."} +{"scene_index": 399, "scene": "In this setup, there are three bottles positioned on the right side of the scene, with one bottle placed centrally. Additionally, a yellow cardboard is situated at the back-left area."} +{"scene_index": 400, "scene": "The yellow cardboard is at the back left, while the bottles are all positioned on the back and right sides."} +{"scene_index": 401, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned behind it, but there s no direct interaction or specific relationship between them beyond their placement."} +{"scene_index": 402, "scene": "The yellow cardboard is at the back left, while the bottles are located at the front and back right positions."} +{"scene_index": 403, "scene": "The yellow cardboard is positioned at the back left. There are five bottles in total: one in the center, one in the front right, and three others located on the right side (including one at the back)."} +{"scene_index": 404, "scene": "The yellow cardboard is on the left, while three bottles are positioned in front with one additional bottle at the back."} +{"scene_index": 405, "scene": "The bottle is located on the back side. The yellow cardboard is positioned at the back left. The second bottle is found on the right side. The second yellow cardboard is situated at the back."} +{"scene_index": 406, "scene": "The yellow cardboard is located at the back left, while there are three bottles positioned in various places: one each at front left and two on the right."} +{"scene_index": 407, "scene": "The bottle is positioned at the back, while the yellow cardboard is placed to its left."} +{"scene_index": 408, "scene": "The yellow cardboard is on the left side, and the bottle is located at the back."} +{"scene_index": 409, "scene": "The front right bottle is positioned at the front right; bottles are located at the back, back right, and right positions; a yellow cardboard is placed at the back left and another yellow cardboard is in the center."} +{"scene_index": 410, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back."} +{"scene_index": 411, "scene": "The bottle is on the right, two yellow cardboards are positioned at the back left and center, and another bottle is at the center."} +{"scene_index": 412, "scene": "The scene features a central yellow cardboard, with bottles arranged in the center, front right, back right, and right positions, along with another yellow cardboard at the back left."} +{"scene_index": 413, "scene": "The yellow cardboard is on the left, and the bottle is in the center."} +{"scene_index": 414, "scene": "The bottle is centered, while there is a yellow cardboard positioned at the back left. Additionally, two more bottles are placed in the sceneβ€”one at the front right and one at the back."} +{"scene_index": 415, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located respectively at the right, back, and front right positions."} +{"scene_index": 416, "scene": "The bottle is located at the back, and the yellow cardboard is positioned to its left."} +{"scene_index": 417, "scene": "The yellow cardboard is located at the back left, while multiple bottles are positioned in the front and one bottle is placed at the back right."} +{"scene_index": 418, "scene": "The bottle is positioned back with another bottle to its right, a yellow cardboard is located back left."} +{"scene_index": 419, "scene": "The yellow cardboard is located at the back left position, while the bottle is positioned at the back but not specifically in the left area."} +{"scene_index": 420, "scene": "The yellow cardboard is on the left, while the four bottles are arranged with three in front and one at the back."} +{"scene_index": 421, "scene": "The yellow cardboard is located at the back left, while the five bottles are positioned in various locations with most being front and one at the back."} +{"scene_index": 422, "scene": "The yellow cardboard is positioned to the left, while the bottle is located at the back."} +{"scene_index": 423, "scene": "Bottle is on the right. Yellow cardboard is at the back left. Another bottle is at the back."} +{"scene_index": 424, "scene": "The yellow cardboard is on the left, and the bottle is positioned at the back."} +{"scene_index": 425, "scene": "The bottle is in the center. A bottle is at the back. A yellow cardboard is in the back left. A bottle is in the front right. A bottle is on the right."} +{"scene_index": 426, "scene": "The scene contains seven bottles positioned across the frame and one yellow cardboard located at the back left."} +{"scene_index": 427, "scene": "The yellow cardboard is positioned at the back left, while the bottle is located at the back, indicating that both objects are situated in the rear area but with the yellow cardboard specifically placed towards the left side."} +{"scene_index": 428, "scene": "The bottle is at the back, positioned centrally, while the yellow cardboard is located at the back left corner of the image."} +{"scene_index": 429, "scene": "The setup includes four bottles positioned at back right, back left, left, and right, with a yellow cardboard placed at back left."} +{"scene_index": 430, "scene": "The yellow cardboard is located at the back left, while two bottles are positioned at the center and back, and one bottle is placed at the front right."} +{"scene_index": 431, "scene": "The bottle is positioned at the back, while the yellow cardboard is located on the left side."} +{"scene_index": 432, "scene": "The yellow cardboard is on the left, while the bottle is centered."} +{"scene_index": 433, "scene": "The yellow cardboard is positioned at the back left, while the bottles are arranged with one at the back and three in the front."} +{"scene_index": 434, "scene": "The yellow cardboard is at the back left, while the five bottles are positioned as follows: one in the center, one at the back, one at the front right, and another two on the right."} +{"scene_index": 435, "scene": "Bottle is at the back, Bottle is at the front right, Bottle is at the back right, Bottle is on the right, Yellow cardboard is at the center, Yellow cardboard is at the back left."} +{"scene_index": 436, "scene": "The yellow cardboard is positioned at the back left, while there are three bottles located in the front right, right, and back positions."} +{"scene_index": 437, "scene": "The scene contains multiple bottles positioned across different locations (back, right, front left, and front right) and two yellow cardboard sheets placed at the back and back left positions."} +{"scene_index": 438, "scene": "The bottle is at the back, while there are two yellow cardboard pieces located on the back left and left sides."} +{"scene_index": 439, "scene": "There are three bottles positioned at the front of the image. Two yellow cardboards are placed in the center and back-left positions respectively."} diff --git a/leju_robot_pass_the_cleaner_e/annotations/subtask_annotations.jsonl b/leju_robot_pass_the_cleaner_e/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..859f9c2ac9c76eadc3c726e2d40e25c766c76c61 --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/annotations/subtask_annotations.jsonl @@ -0,0 +1,3 @@ +{"subtask_index": 0, "subtask": "Turn the bottle to the front side."} +{"subtask_index": 1, "subtask": "Pick up the bottle from the table."} +{"subtask_index": 2, "subtask": "null"} diff --git a/leju_robot_pass_the_cleaner_e/data/chunk-000/episode_000000.parquet b/leju_robot_pass_the_cleaner_e/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4495e835e1c3ae3c3163802f5a2d9afbfd02ce58 --- /dev/null +++ b/leju_robot_pass_the_cleaner_e/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ 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